Rehabilitation robot for hand soft body rehabilitation and upper limb rehabilitation

Abstract

The invention relates to the technical field of medical auxiliary equipment, in particular to a rehabilitation robot for hand soft body rehabilitation and upper limb rehabilitation, the rehabilitation robot comprises a mechanical arm and a pneumatic glove, the mechanical arm comprises a big arm part and a small arm part, and one end, away from the big arm part, of the small arm part is provided with a first rehabilitation assembly for driving a radioulnar joint to rotate; one side of each of the big arm part and the small arm part is provided with an arm fixing assembly for fixing an arm of a patient; the first rehabilitation assembly comprises a training system used for adjusting training content and a first driving part, a rotating disc is fixedly connected to an output shaft of the first driving part, a spherical hinge rod is eccentrically hinged to the top of the rotating disc, and a first grip ball is hinged to the top of the spherical hinge rod; through the design of the spherical hinge rod, the device can drive the wrist of a patient to rotate and swing to different degrees, and can also drive the wrist and the forearm of the patient to rotate and swing together, so that the radial-ulnar joint is trained, and the coordination of the arm and the hand of the patient and the comprehensiveness of rehabilitation training are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical auxiliary equipment, in particular to a rehabilitation robot for soft hand rehabilitation and upper limb rehabilitation. BACKGROUND

[0002] In today's society, with the continuous acceleration of population aging and the occurrence of various diseases and accidents, the number of patients with upper limb dysfunction is increasing. Stroke, nerve injury, fracture, arthritis and other diseases often lead to limited movement function of the hands and upper limbs of patients, such as difficulty in grasping hands, inability to normally lift, swing and rotate upper limbs, etc., which seriously affects the self-care ability of patients in daily life, such as dressing, eating and writing basic activities, and brings heavy burden to patients and their families.

[0003] In the prior art, the rehabilitation training of the upper limbs of patients is mainly carried out by driving the arms of patients to bend, swing and rotate through a mechanical arm, such as a Hocoma AG exoskeleton, and the rehabilitation training of the hands of patients is carried out by driving the fingers of patients to bend and stretch through a pneumatic glove.

[0004] The radiocarpal joint is a key joint that affects wrist movement and forearm movement, and is also a key joint that affects the coordination of hands and arms. However, the rehabilitation training device in the prior art often only trains the arms and hands, lacks training of the radiocarpal joint, and thus leads to uncoordinated arms and hands of patients and incomplete recovery, so it is necessary to provide a rehabilitation robot for soft hand rehabilitation and upper limb rehabilitation which can train the arms and hands while training the radiocarpal joint, so as to improve the coordination of the arms and hands of patients and improve the comprehensiveness of rehabilitation. SUMMARY

[0005] To solve the above problems, the present application provides a rehabilitation robot for soft hand rehabilitation and upper limb rehabilitation, which can drive the wrists of patients to rotate and swing at different degrees, and also drive the wrists and forearms of patients to rotate and swing together, so as to train the radiocarpal joint and improve the coordination of the arms and hands of patients and the comprehensiveness of rehabilitation.

[0006] In order to achieve the above object, the technical scheme of the present application is as follows: A rehabilitation robot for hand soft rehabilitation and upper limb rehabilitation, comprising a mechanical arm and a pneumatic glove, the mechanical arm comprising a large arm part and a small arm part, the small arm part being provided with a first rehabilitation assembly for driving the rotation of the radioulnar joint at the end away from the large arm part; the large arm part and the small arm part are both provided with an arm fixing assembly for fixing the patient's arm; the first rehabilitation assembly comprises a training system for adjusting the training content and a first driving member, the output shaft of the first driving member being fixedly connected with a rotating disc, the top of the rotating disc being eccentrically hinged with a spherical hinge rod, the top of the spherical hinge rod being hinged with a first grip ball; the spherical hinge rod is also provided with a second rehabilitation assembly for driving the swinging of the radioulnar joint, the training system being used for controlling the operation of the first driving member, thereby driving the rotation of the rotating disc; the bottom of the first driving member is fixedly connected with a protective frame, and the end of the small arm part away from the large arm part is fixedly connected with the outer side wall of the protective frame.

[0007] The technical principle of the above scheme is as follows:

[0008] The user's large arm and small arm are fixed with the mechanical arm through the fixing assembly, the user's hand holds the first grip ball, the first driving member is controlled to operate through the training system, the output shaft of the first driving member drives the rotating disc to rotate, since the rotating disc is eccentrically hinged with the spherical hinge rod, the rotating disc will drive the spherical hinge rod to deflect around the axis of the rotating disc; since the spherical hinge rod is hinged with the first grip ball, the first grip ball will drive the patient's hand and wrist to rotate, and the first grip ball will also adapt to the rotation angle of the patient's wrist.

[0009] The user's large arm is fixed with the mechanical arm, the user's hand holds the first grip ball, the first driving member is controlled to operate through the training system, and the first grip ball will drive the patient's hand, wrist and small arm to rotate together.

[0010] The above scheme has the following beneficial effects:

[0011] 1. The rehabilitation training device in the prior art often only trains the arm and hand, lacks training of the radioulnar joint, and thus the patient's arm and hand are not coordinated, and the recovery effect is not comprehensive; the present application can not only rehabilitate the patient's upper limb through the mechanical arm, but also can make the device drive the patient's hand, wrist and arm to rotate and swing in different modes through the design of the spherical hinge rod, so as to rehabilitate the patient's hand, wrist and arm together, improve the coordination of the arm, wrist and hand, and improve the comprehensiveness of the rehabilitation training.

[0012] 2. The present application can make the distal end of the radioulnar joint and the wrist produce relative movement by keeping the large arm and small arm stationary; by keeping only the large arm stationary, the patient's hand, wrist and small arm can be driven to rotate together, so that the proximal end of the radioulnar joint and the large arm produce relative movement; thereby the radioulnar joint is rehabilitated, and the comprehensiveness of the rehabilitation training is improved.

[0013] 3、The device can adapt to the rehabilitation condition of the wrist of the patient while driving the hand and wrist of the patient to rotate, improve the adaptability and comfort of the rehabilitation training, avoid hard pulling on the wrist of the patient during the training process, and prevent mechanical damage to the patient.

[0014] 4、In the application, the user holds the ball hinge vertically, so that the radioulnar joint remains in a vertical state, and the user can also hold the first grip ball horizontally, so that the radioulnar joint remains in a horizontal state, thereby training the radioulnar joint at different angles through different holding methods, improving the comprehensiveness of the training.

[0015] Further, the second rehabilitation assembly includes an electric control cylinder hinged to one side of the ball hinge, a telescopic rod fixedly connected to the output shaft of the electric control cylinder, and a second grip ball fixedly connected to the top of the telescopic rod. A sliding groove is formed in the side wall of the ball hinge for the telescopic rod to slide transversely. The training system is used to control the operation of the electric control cylinder, thereby driving the telescopic rod to slide along the sliding groove. A horizontal groove is formed in the rotating disc for horizontally placing the ball hinge.

[0016] Beneficial effect: The device can not only rotate the radioulnar joint, but also drive the patient to swing the radioulnar joint through the telescopic rod and the second grip ball, thereby improving the comprehensiveness of the radioulnar joint rehabilitation training.

[0017] Further, the sliding groove is arc-shaped.

[0018] Beneficial effect: The arc-shaped sliding groove can make the swing training more consistent with the swing trajectory of the wrist and arm, improving the rehabilitation effect.

[0019] Further, the arm fixing assembly includes a binding cloth and a support table. The support table is internally provided with a retracting groove for retracting and releasing the binding cloth. One end of the binding cloth is fixedly connected to the support table, and the other end is slidably connected to the retracting groove. The support table is internally provided with an adjusting assembly for adjusting the binding diameter of the binding cloth. The outer side wall of the support table is fixedly connected to the outer side wall of the mechanical arm.

[0020] Beneficial effect: Through the design of the binding cloth, the device can fix the user's arm and the mechanical arm, so that the mechanical arm can drive the patient's arm to move.

[0021] Further, a ring-shaped air bag is fixedly connected to the binding cloth, and the adjusting assembly is also used to adjust the inflation degree of the air bag.

[0022] Beneficial effect: The air bag can fill the gap between the binding cloth and the user's arm, improving the binding effect. Through the design of the air bag, the device can fix arms of different sizes, and through the flexible wrapping, the comfort of the fixation is improved.

[0023] Further, the adjusting assembly comprises a second driving member embeddedly installed in the receiving slot, a gear coaxially and fixedly connected to an output shaft of the second driving member, a rack laterally slidingly fitted in the receiving slot, the gear being engaged with the rack; one end of the binding cloth located in the receiving slot is fixedly connected with the rack; the rack is fixedly connected with a piston plate at an end away from the binding cloth; the support table is provided with piston cavities for lateral sliding of the piston plate, the piston cavities being in communication with the air bag at an end away from the rack.

[0024] Beneficial effects: through the design of the gear and the rack, the user can synchronously adjust the binding diameter of the binding cloth and the expansion degree of the air bag, so that the device can quickly adapt to arms of different sizes, and the convenience and comprehensiveness of the device are improved.

[0025] Further, the training system comprises an upper limb rehabilitation module, a hand rehabilitation module, a radiocarpal joint rehabilitation module and an emergency braking module.

[0026] The upper limb rehabilitation module is used for driving the upper limb of the patient to perform active training and passive training; when the patient performs passive training of the upper limb, the upper limb rehabilitation module drives the upper arm and the lower arm of the patient to rotate and swing based on the mechanical arm; when the patient performs active training of the upper limb, the upper limb rehabilitation module is used for monitoring the maximum rotation angle and the maximum swing amplitude of the upper arm and the lower arm, and analyzing the upper limb rehabilitation degree of the patient based on the maximum rotation angle and the maximum swing amplitude of the upper arm and the lower arm during active training of the patient.

[0027] The hand rehabilitation module is used for driving the hand of the patient to perform active training and passive training; when the patient performs passive training of the hand, the hand rehabilitation module drives the fingers of the patient to bend and straighten based on the pneumatic glove; when the patient performs active training of the hand, the hand rehabilitation module is used for monitoring the maximum bending degree of the fingers, and analyzing the hand rehabilitation degree of the patient based on the maximum bending degree of the fingers during active training of the patient.

[0028] The radiocarpal joint rehabilitation module is used for driving the radiocarpal joint of the patient to perform active training and passive training; when the patient performs passive training of the radiocarpal joint, the radiocarpal joint rehabilitation module drives the radiocarpal joint of the patient to rotate and swing based on the first grip ball and the second grip ball; when the patient performs active training of the radiocarpal joint, the radiocarpal joint rehabilitation module is used for monitoring the maximum rotation angle and the rotation speed of the first grip ball, and monitoring the maximum swing amplitude and the swing speed of the second grip ball, and analyzing the radiocarpal joint rehabilitation degree of the patient based on the maximum rotation angle and the rotation speed of the first grip ball and the maximum swing amplitude and the swing speed of the second grip ball.

[0029] The emergency braking module comprises a braking button, and the braking button is used for cutting off the power supply of the whole device and stopping the whole device from running.

[0030] Further, the upper limb rehabilitation module comprises an upper limb monitoring unit and an upper limb analyzing unit.

[0031] The upper limb monitoring unit comprises a plurality of first angle sensors and first displacement sensors embedded in the upper arm part and the lower arm part, and monitors the rotation angle and swing amplitude of the patient's upper arm and lower arm based on the first angle sensors and the first displacement sensors.

[0032] The upper limb analyzing unit is configured to set an upper limb rehabilitation threshold value, and determine the rehabilitation degree of the patient's upper limb based on the ratio of the rotation angle and swing amplitude of the patient's upper arm and lower arm to the upper limb rehabilitation threshold value.

[0033] Further, the hand rehabilitation module comprises a hand monitoring unit and a hand analyzing unit.

[0034] The hand monitoring unit comprises a plurality of pressure sensors embedded in the pneumatic glove, and determines the bending degree of the patient's fingers based on the pressure value monitored by the pressure sensors; the pressure value is directly proportional to the bending degree of the fingers.

[0035] The hand analyzing unit is configured to set a hand rehabilitation threshold value, and determine the rehabilitation degree of the patient's hand based on the ratio of the maximum bending degree of the fingers to the hand rehabilitation threshold value.

[0036] Further, the radioulnar joint rehabilitation module comprises a radioulnar joint monitoring unit and a radioulnar joint analyzing unit.

[0037] The radioulnar joint monitoring unit comprises a second angle sensor and a rotation speed sensor embedded in the first grip ball, and a second displacement sensor and a speed sensor embedded in the second grip ball; the radioulnar joint monitoring unit monitors the rotation amplitude and rotation speed when the patient's radioulnar joint rotates based on the second angle sensor and the rotation speed sensor, and monitors the swing amplitude and swing speed when the patient's radioulnar joint swings based on the second displacement sensor and the speed sensor.

[0038] The radioulnar joint analyzing unit is configured to set a radioulnar joint rehabilitation threshold value, and determine the rehabilitation degree of the patient's radioulnar joint based on the ratio of the rotation amplitude, rotation speed, swing amplitude and swing speed of the radioulnar joint to the radioulnar joint rehabilitation threshold value.

[0039] The emergency braking module comprises a brake button, which is used to cut off the power supply of the whole device and stop the operation of the whole device.

[0040] Beneficial effects: in the prior art, when evaluating the rehabilitation degree of the user, mainly rely on the swing range of the patient's arm to evaluate, the larger the swing range of the patient's arm, the higher the rehabilitation degree of the patient, such evaluation method is too one-sided, lacks detailed evaluation of each part of the patient, resulting in inaccurate evaluation results; compared with the prior art, the scheme can independently evaluate the upper limbs, hands and radioulnar joints of the patient, improve the comprehensiveness and diversity of the evaluation, and the user can clearly understand the rehabilitation degree of each part of the user, and then combine the three, so as to comprehensively understand the overall rehabilitation condition of the user.

[0041] Additional aspects and advantages of the application will be set forth in part in the following description, will become apparent from the following description, or will be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 It is a side view of the rehabilitation robot for soft rehabilitation of the hand and rehabilitation of the upper limb of the application.

[0043] Figure 2 It is an isometric view of the first rehabilitation assembly in the rehabilitation robot for soft rehabilitation of the hand and rehabilitation of the upper limb of the application.

[0044] Figure 3 It is a side sectional view of the first rehabilitation assembly in the rehabilitation robot for soft rehabilitation of the hand and rehabilitation of the upper limb of the application.

[0045] Figure 4 It is a top view of the first rehabilitation assembly in the rehabilitation robot for soft rehabilitation of the hand and rehabilitation of the upper limb of the application.

[0046] Figure 5 It is a side sectional view of the arm fixing assembly in the rehabilitation robot for soft rehabilitation of the hand and rehabilitation of the upper limb of the application.

[0047] The reference signs in the drawings of the specification include: 1, mechanical arm; 2, AC motor; 3, rotating disc; 4, spherical hinge rod; 5, first grip ball; 6, electric control cylinder; 7, telescopic rod; 8, second grip ball; 9, protective frame; 10, binding cloth; 11, support table; 12, receiving and releasing groove; 13, piston cavity; 14, air bag; 15, servo motor; 16, gear; 17, rack; 18, piston plate. DETAILED DESCRIPTION

[0048] The following will be further described in detail through specific embodiments:

[0049] Example 1:

[0050] As Figure 1As shown in the figure, a rehabilitation robot for hand soft rehabilitation and upper limb rehabilitation comprises a mechanical arm 1 (Hocoma AG exoskeleton is selected in the embodiment, and the maximum load is 10 kg) and a pneumatic glove (CyberGlove Systems is selected in the embodiment, and the pressure range is 0-30 kPa, which is not shown in the figure).

[0051] The mechanical arm 1 comprises a large arm part (for driving the user's large arm to rotate and swing) and a small arm part (for driving the user's small arm to rotate and swing), and the small arm part is provided with a first rehabilitation assembly for driving the radioulnar joint to rotate at the end away from the large arm part; the large arm part and the small arm part are both provided with an arm fixing assembly for fixing the patient's arm.

[0052] As shown in the figure, Figure 2 and Figure 3 the first rehabilitation assembly comprises a training system (a controller is selected in the embodiment) for adjusting the training content and a first driving member (an alternating current motor 2 is selected in the embodiment), and the output shaft of the alternating current motor 2 is bolted and connected with a rotating disc 3, the top of the rotating disc 3 is eccentrically hinged with a spherical hinge rod 4, and the top of the spherical hinge rod 4 is hinged with a first grip ball 5; the spherical hinge rod 4 is also provided with a second rehabilitation assembly for driving the radioulnar joint to swing.

[0053] The training system is used for controlling the alternating current motor 2 to operate, thereby driving the rotating disc 3 to rotate (360° rotation is available).

[0054] The bottom of the alternating current motor 2 is bolted and connected with a protective frame 9, and the end of the small arm part away from the large arm part is bolted and connected with the outer side wall of the protective frame 9; the protective frame 9 can provide support and protection for the alternating current motor 2, thereby improving the stability and service life of the alternating current motor 2.

[0055] As shown in the figure, Figure 2 specifically, when training the distal end of the radioulnar joint, the user's large arm and small arm are kept fixed with the mechanical arm 1, the user's hand holds the first grip ball 5 (the pneumatic glove can be used to assist in force generation, or the user can generate force independently), the training system controls the alternating current motor 2 to operate, and the output shaft of the alternating current motor 2 drives the rotating disc 3 to rotate; since the rotating disc 3 is eccentrically hinged with the spherical hinge rod 4, the rotating disc 3 will drive the spherical hinge rod 4 to deflect around the axis of the rotating disc 3 (the spherical hinge rod 4 can deflect 360°, and vertically swing 160°); since the spherical hinge rod 4 is hinged with the first grip ball 5, the first grip ball 5 will drive the user's hand and wrist to rotate, and at the same time, the first grip ball 5 will also adapt to the rotation angle of the user's wrist, and the included angle between the spherical hinge rod 4 and the rotating disc 3 will also change according to the position of the user's wrist, so that the user's wrist can maintain the normal physiological curvature to rotate with the spherical hinge rod 4, thereby avoiding damage to the user's wrist.

[0056] As shown in the figure, Figure 2As shown, when training the proximal radioulnar joint, the user's arm is fixed with the mechanical arm 1, the user's hand holds the first grip ball 5, and the training system controls the AC motor 2 to operate, and the first grip ball 5 drives the patient's hand, wrist and forearm to rotate together. When the upper arm and forearm remain stationary, the device can cause the distal radioulnar joint and the wrist to move relative to each other; when only the upper arm remains stationary, the device can drive the patient's hand, wrist and forearm to rotate together, causing the proximal radioulnar joint and the upper arm to move relative to each other; thereby rehabilitating the radioulnar joint and improving the comprehensiveness of rehabilitation training.

[0057] As shown in Figure 2 and Figure 4 , the second rehabilitation assembly includes an electric control cylinder 6 hinged to one side of the spherical hinge rod 4, a telescopic rod 7 is bolted and connected to the output shaft of the electric control cylinder 6, a second grip ball 8 is bolted and connected to the top of the telescopic rod 7, and the side wall of the spherical hinge rod 4 is provided with a sliding groove for the telescopic rod 7 to slide transversely, and the sliding groove is arc-shaped (the arc length is 60°); the training system is used to control the operation of the electric control cylinder 6, thereby driving the telescopic rod 7 to slide along the sliding groove; the rotating disc 3 is provided with a horizontal groove for horizontally placing the spherical hinge rod 4.

[0058] As shown in Figure 2 , specifically, when the user needs to perform swing training of the radioulnar joint, the spherical hinge rod 4 can be laid down in the direction of the horizontal groove so that the spherical hinge rod 4 is in a horizontal state, then the second grip ball 8 is held (a pneumatic glove can be used to assist in exerting force, or the force can be exerted independently), and the telescopic rod 7 is pulled up. At this time, the user starts the electric control cylinder 6 through the training system, and the output shaft of the electric control cylinder 6 pushes the telescopic rod 7 to reciprocally slide along the sliding groove, and the telescopic rod 7 drives the second grip ball 8 and the user's hand to swing, thereby performing swing training of the radioulnar joint; and in the initial state, the telescopic rod 7 is located in the middle of the sliding groove, and the greater the range of reciprocating movement of the output shaft of the electric control cylinder 6, the greater the amplitude of the patient's radioulnar joint swing, thereby achieving swing training of different amplitudes to adapt to patients with different rehabilitation degrees.

[0059] As shown in Figure 5 , the arm fixing assembly includes a binding cloth 10 and a support table 11, the support table 11 is provided with a storage groove 12 for storing and releasing the binding cloth 10, one end of the binding cloth 10 is fixedly bonded to the support table 11, and the other end of the binding cloth 10 is slidably matched with the storage groove 12; the support table 11 is provided with an adjusting assembly for adjusting the binding diameter of the binding cloth 10 (the binding diameter of the binding cloth 10 is adjusted in the range of 60-120mm); and the outer side walls of the support table 11 are bolted and fixedly connected with the outer side walls of the mechanical arm 1.

[0060] An annular airbag 14 is fixedly bonded to the binding cloth 10, and the adjustment assembly is also used to adjust the degree of expansion of the airbag 14. The adjustment assembly includes a second drive member embedded in the storage groove 12. The output shaft of the second drive member is coaxially bolted to a gear 16. A rack 17 is provided in the storage groove 12 for transverse sliding engagement, and the gear 16 meshes with the rack 17. The end of the binding cloth 10 located in the storage groove 12 is bolted to the rack 17. The end of the rack 17 away from the binding cloth 10 is bolted to a piston plate 18. The support platform 11 is provided with a piston cavity 13 for the transverse sliding of the piston plate 18. The end of the piston cavity 13 away from the rack 17 is connected to the airbag 14.

[0061] like Figure 5 As shown, specifically, before training, the user puts his arm into the circular ring formed by the binding cloth 10, and the support platform 11 will provide initial support for the patient's arm. The user starts the second driving member (the servo motor 15 is selected in this embodiment) through the controller, and the output shaft of the servo motor 15 drives the gear 16 to rotate. Since the gear 16 is engaged with the rack 17, the gear 16 will drive the rack 17 to slide in the retracting groove 12, and then drive the binding cloth 10 to slide. Since one end of the binding cloth 10 is bonded to the rack 17 and the other end is bonded to the support platform 11, the rack 17 drives the binding cloth 10 to slide, which will adjust the binding diameter of the binding cloth 10; at the same time, the rack 17 will drive the piston plate 18 to slide in the piston chamber 13, thereby adjusting the degree of expansion of the airbag 14. Compared with the existing method of using a rigid structure (such as a mechanical clamp) to clamp and fix the arm, the binding cloth 10 and the airbag 14 can effectively improve the comfort of the patient's arm, and can also adapt to arms of different sizes (adaptability is increased by 95%, the arm diameter of children and adults is usually between 60-120 mm).

[0062] The specific implementation process is as follows:

[0063] like Figure 2 As shown, in the initial state, the ball joint rod 4 is in a horizontal state, and the telescopic rod 7 is in a retracted state and located in the middle of the slide groove.

[0064] like Figure 1 As shown, when the user needs to perform swing training on the radioulnar joint, the user extends the upper arm and forearm into the binding cloth 10, wears the pneumatic glove on the hand, and starts the servo motor 15 through the training system. The gear 16 drives the rack 17 to move to the right, thereby driving the end of the binding cloth 10 bonded to the rack 17 to move to the right along with the rack 17. At this time, the ring formed by the binding cloth 10 will gradually shrink, thereby quickly binding the user's arm; at the same time, the rack 17 will push the piston plate 18 to move to the right along the piston chamber 13 (the maximum stroke of the rack 17 and the piston plate 18 is 20mm), thereby expanding the piston chamber 13 (volume 60cm 3gas is delivered into the air bag 14 (about 3cm 3 ) for each 1mm movement of the piston plate 18), the air bag 14 will expand, thereby filling the gap between the binding cloth 10 and the patient's arm and improving the fixing effect of the device on the patient's arm.

[0065] As shown in Figure 2 , after the arm is fixed, the user holds the second grip ball 8 with his hand, pulls out the telescopic rod 7 (the maximum length is 180mm), and starts the electric control cylinder 6 (the maximum stroke is 100mm) using the training system. The output shaft of the electric control cylinder 6 drives the telescopic rod 7, the second grip ball 8 and the patient's hand to reciprocate along the sliding groove, thereby swinging the radioulnar joint for training.

[0066] During this process, the user can choose to hold the second grip ball 8 at a horizontal angle, so that the radioulnar joint is in a horizontal state; or choose to hold the telescopic rod 7 at a vertical angle, so that the radioulnar joint is in a vertical state, thereby swinging the radioulnar joint at different angles for training.

[0067] When the user completes the swing training, the user keeps the upper arm and lower arm fixed, presses the second grip ball 8 with his hand, so that the telescopic rod 7 is retracted, holds the first grip ball 5, and raises the ball hinge rod 4 to a vertical state, and then starts the AC motor 2 through the controller. The output shaft of the AC motor 2 drives the rotating disc 3 to rotate, and the rotating disc 3 drives the ball hinge rod 4 to deflect around the axis of the rotating disc 3, and the ball hinge rod 4 drives the patient's hand to rotate around the lower arm, thereby training the distal end of the radioulnar joint; the user can also keep only the upper arm fixed, and the ball hinge rod 4 will drive the patient's hand, wrist and lower arm to rotate around the upper arm, thereby training the proximal end of the radioulnar joint.

[0068] The radioulnar joint is the key joint affecting the movement of the wrist and the lower arm, and is also the key joint affecting the coordination of the hand and the arm. The existing rehabilitation training device often only trains the arm and the hand, lacks training of the radioulnar joint, and thus the patient's arm and hand are not coordinated, and the recovery effect is not comprehensive. The present embodiment not only can rehabilitate the patient's upper limb through the mechanical arm 1, but also can make the device drive the patient's hand, wrist and arm to rotate and swing in different modes through the design of the ball hinge rod 4, thereby rehabilitating the patient's hand, wrist and arm together, improving the coordination of the arm, wrist and hand, and improving the comprehensiveness of the rehabilitation training.

[0069] Embodiment 2

[0070] Different from the above embodiment, the training system comprises an upper limb rehabilitation module, a hand rehabilitation module, a radioulnar joint rehabilitation module and an emergency braking module.

[0071] The specific functions of each module are as follows:

[0072] The upper limb rehabilitation module is used to drive the upper limb of the patient to perform active training and passive training. When the patient performs passive training of the upper limb, the upper limb rehabilitation module drives the upper arm and the lower arm of the patient to rotate and swing based on the mechanical arm 1. When the patient performs active training of the upper limb, the upper limb rehabilitation module is used to monitor the maximum rotation angle and the maximum swing amplitude of the upper arm and the lower arm, and analyze the upper limb rehabilitation degree of the patient based on the maximum rotation angle and the maximum swing amplitude of the upper arm and the lower arm of the patient during active training.

[0073] The upper limb rehabilitation module comprises an upper limb monitoring unit and an upper limb analysis unit.

[0074] The upper limb monitoring unit comprises a plurality of first angle sensors and first displacement sensors embeddedly installed in the upper arm part and the lower arm part. The upper limb monitoring unit monitors the rotation angle and the swing amplitude of the upper arm and the lower arm of the patient based on the first angle sensors and the first displacement sensors.

[0075] The upper limb analysis unit is used to set an upper limb rehabilitation threshold, and judge the upper limb rehabilitation degree of the patient based on the ratio of the rotation angle and the swing amplitude of the upper arm and the lower arm of the patient to the upper limb rehabilitation threshold.

[0076] Specifically, assuming that the patient A, Zhang, is a 58-year-old male with right hemiplegia (Brunnstrom stage III) after stroke, and is undergoing upper limb rehabilitation training. The upper limb movement threshold of the patient A is set as follows: the shoulder joint flexion is rotated to 60°, and the elbow joint swing amplitude is 60°. When the mechanical arm 1 drives the patient A to perform passive training, the shoulder joint flexion of the patient A can be rotated from 0° to 90°, and the elbow joint extension can be swung from 90° to 30°. When the patient A performs active training, the maximum shoulder joint flexion angle is 48°, and the maximum elbow joint swing amplitude is 45°. The upper limb analysis unit analyzes the upper limb rehabilitation degree of the patient A: 48° / 60°=80%, 45° / 60°=75%, and the average of the two is taken as the overall rehabilitation degree of the upper limb, which is 77.5%.

[0077] The hand rehabilitation module is used to drive the hand of the patient to perform active training and passive training. When the patient performs passive training of the hand, the hand rehabilitation module drives the fingers of the patient to bend and straighten based on the pneumatic glove. When the patient performs active training of the hand, the hand rehabilitation module is used to monitor the maximum bending degree of the fingers, and analyzes the hand rehabilitation degree of the patient based on the maximum bending degree of the fingers during active training.

[0078] The hand rehabilitation module comprises a hand monitoring unit and a hand analysis unit.

[0079] The hand monitoring unit comprises a plurality of pressure sensors embedded in the pneumatic glove, and the hand monitoring unit determines the bending degree of the patient's fingers based on the pressure values monitored by the pressure sensors.

[0080] The hand analysis unit sets a hand rehabilitation threshold, and determines the rehabilitation degree of the patient's hand based on the ratio of the maximum bending degree of the fingers to the hand rehabilitation threshold (in this embodiment, the air pressure in the pneumatic glove increases by about 1.15 kPa for each 1° of bending of the patient's fingers).

[0081] Specifically, assuming that the patient A is undergoing finger flexion and extension training, the hand rehabilitation threshold is set to be 60° of finger bending and 3s of holding; during passive training, the pneumatic glove drives the finger pneumatic artificial muscle at a pressure of 0.2 MPa (bending speed: 30° / s) to make the patient A's fingers bend 60° and hold for 3s; during active training, the patient A attempts to voluntarily clench the fist, at which time the pressure value detected by the pressure sensor is 45.2 kPa, and the hand analysis unit analyzes that when the pressure value is 45.2 kPa, the patient A's fingers correspond to a bending degree of 52°, 52° / 60°=86%, and it is concluded that the rehabilitation degree of the patient A's hand is 86%.

[0082] The radio-ulnar joint rehabilitation module is used to drive the patient's radio-ulnar joint to perform active training and passive training; when the patient performs passive training of the radio-ulnar joint, the radio-ulnar joint rehabilitation module drives the patient's radio-ulnar joint to rotate and swing based on the first grip ball 5 and the second grip ball 8; when the patient performs active training of the radio-ulnar joint, the radio-ulnar joint rehabilitation module is used to monitor the maximum rotation angle and rotation speed of the first grip ball 5, and monitor the maximum swing amplitude and swing speed of the second grip ball 8, and analyze the rehabilitation degree of the patient's radio-ulnar joint based on the maximum rotation angle and rotation speed of the first grip ball 5 and the maximum swing amplitude and swing speed of the second grip ball 8.

[0083] The radio-ulnar joint rehabilitation module comprises a radio-ulnar joint monitoring unit and a radio-ulnar joint analysis unit.

[0084] The radio-ulnar joint monitoring unit comprises a second angle sensor and a rotation speed sensor embedded in the first grip ball 5, and a second displacement sensor and a speed sensor embedded in the second grip ball 8; the radio-ulnar joint monitoring unit monitors the rotation amplitude and rotation speed of the patient's radio-ulnar joint during rotation based on the second angle sensor and the rotation speed sensor, and monitors the swing amplitude and swing speed of the patient's radio-ulnar joint during swinging based on the second displacement sensor and the speed sensor.

[0085] The radio-ulnar joint analysis unit sets a radio-ulnar joint rehabilitation threshold, and determines the rehabilitation degree of the patient's radio-ulnar joint based on the ratio of the rotation amplitude, rotation speed, swing amplitude and swing speed of the radio-ulnar joint to the radio-ulnar joint rehabilitation threshold.

[0086] Specifically, the patient A normally carries out the radial-ulnar joint training, and the joint rehabilitation threshold is set as: the rotation amplitude is 360°, the rotation speed is 5° / s, the swing amplitude is 60°, and the swing speed is 3° / s.

[0087] Taking the swing training of the radial-ulnar joint as an example, the output shaft of the electric control cylinder 6 extends 1mm, and the extension rod 7 drives the hand of the patient to swing 3°. When the patient A carries out the passive training through the electric control cylinder 6, the output shaft of the electric control cylinder 6 reciprocates at 1mm / s, and the reciprocating stroke is 20mm, which drives the hand of the patient A to swing 60° at 3° / s. When the patient A carries out the active training, the swing amplitude of the patient A is 60°, and the swing speed is 2° / s.

[0088] Taking the swing training of the radial-ulnar joint as an example, the output shaft of the electric control cylinder 6 extends 1mm, and the extension rod 7 drives the hand of the patient to swing 3°. When the patient A carries out the passive training through the electric control cylinder 6, the output shaft of the electric control cylinder 6 reciprocates at 1mm / s, and the reciprocating stroke is 20mm, which drives the hand of the patient A to swing 60° at 3° / s. When the patient A carries out the active training, the swing amplitude of the patient A is 60°, and the swing speed is 2° / s.

[0089] The radial-ulnar joint analysis unit analyzes the above data, 60° / 60°=100%, 2° / 3°=67%, 360° / 360°=100%, 3° / 5°=60%, and the average of the above data is 82%, which is the rehabilitation degree of the radial-ulnar joint of the patient A.

[0090] The patient can also comprehensively analyze the rehabilitation degree of the upper limb, the rehabilitation degree of the hand and the rehabilitation degree of the radial-ulnar joint, calculate the average of the three, and comprehensively evaluate the rehabilitation condition of the patient. Taking the patient A as an example, the overall rehabilitation degree is calculated as follows: (the rehabilitation degree of the upper limb 77.5%+the rehabilitation degree of the hand 86%+the rehabilitation degree of the radial-ulnar joint 82%) / 3=the overall rehabilitation degree of the patient A 81.83%.

[0091] The emergency braking module includes a brake button, which is used to cut off the power supply of the whole device and stop the operation of the whole device.

[0092] Specifically, when an emergency occurs, the user or the accompanying person can immediately press the brake button to cut off the power supply of the whole device and stop the operation of the whole device, thereby improving the safety of the whole device.

[0093] In the prior art, when evaluating the rehabilitation degree of a user, mainly rely on the swing range of the patient's arm to evaluate, the greater the swing range of the patient's arm, the higher the rehabilitation degree of the patient, such evaluation method is too one-sided, lacks detailed evaluation of each part of the patient, resulting in inaccurate evaluation results; compared with the prior art, the scheme can independently evaluate the upper limbs, hands and radioulnar joints of the patient, improve the comprehensiveness and diversity of the evaluation, and the user can clearly understand the rehabilitation degree of each part of the user, and then combine the three, so as to comprehensively understand the overall rehabilitation of the user.

[0094] Obviously, the above embodiments are only examples for clearly illustrating, but not limitation to the embodiments. For those skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, all the embodiments need not and cannot be exhausted. The obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A rehabilitation robot for hand soft body rehabilitation and upper limb rehabilitation, comprising a robotic arm (1) and a pneumatic glove, wherein the robotic arm (1) comprises an upper arm portion and a lower arm portion, and is characterized in that: A first rehabilitation component for driving the radioulnar joint to rotate is provided at one end of the forearm away from the upper arm; an arm fixing component for fixing the patient's arm is provided on one side of the upper arm and the forearm; The first rehabilitation component comprises a training system for adjusting training content and a first driving member, wherein a rotating disk (3) is fixedly connected to the output shaft of the first driving member, a ball hinge rod (4) is eccentrically hinged to the top of the rotating disk (3), and a first gripping ball (5) is hinged to the top of the ball hinge rod (4); a second rehabilitation component for driving the radioulnar joint to swing is also provided on the ball hinge rod (4), and the training system is used to control the operation of the first driving member, thereby driving the rotating disk (3) to rotate; a protective frame (9) is fixedly connected to the bottom of the first driving member, and an end of the forearm away from the upper arm is fixedly connected to the outer wall of the protective frame (9).

2. The rehabilitation robot for hand soft body rehabilitation and upper limb rehabilitation according to claim 1, characterized in that: The second rehabilitation component includes an electric control cylinder (6) hinged to one side of the ball joint rod (4), a telescopic rod (7) is fixedly connected to the output shaft of the electric control cylinder (6), a second grip ball (8) is fixedly connected to the top of the telescopic rod (7), a side wall of the ball joint rod (4) is provided with a sliding groove for the telescopic rod (7) to slide horizontally, and the training system is used to control the operation of the electric control cylinder (6) and thereby drive the telescopic rod (7) to slide along the sliding groove; a horizontal groove is provided on the rotating disk (3) for placing the ball joint rod (4) horizontally.

3. The rehabilitation robot for hand soft body rehabilitation and upper limb rehabilitation according to claim 2, characterized in that: The chute is arc-shaped.

4. The rehabilitation robot for hand soft body rehabilitation and upper limb rehabilitation according to claim 3, characterized in that: The arm fixing assembly comprises a binding cloth (10) and a support platform (11); a receiving and releasing groove (12) for receiving and releasing the binding cloth (10) is provided in the support platform (11); one end of the binding cloth (10) is fixedly connected to the support platform (11), and the other end of the binding cloth (10) is slidably matched with the receiving and releasing groove (12); an adjusting assembly for adjusting the binding diameter of the binding cloth (10) is provided in the support platform (11); and the outer side wall of the support platform (11) is fixedly connected to the outer side wall of the mechanical arm (1).

5. The rehabilitation robot for hand soft body rehabilitation and upper limb rehabilitation according to claim 4, characterized in that: An annular air bag (14) is fixedly connected to the binding cloth (10), and the adjustment component is also used to adjust the expansion degree of the air bag (14).

6. The rehabilitation robot for hand soft body rehabilitation and upper limb rehabilitation according to claim 5, characterized in that: The adjustment component comprises a second driving member embedded in the receiving and releasing groove (12), the output shaft of the second driving member is coaxially fixedly connected with a gear (16), a rack (17) is provided in the receiving and releasing groove (12) for transverse sliding cooperation, and the gear (16) and the rack (17) are meshed; one end of the binding cloth (10) located in the receiving and releasing groove (12) is fixedly connected to the rack (17); the end of the rack (17) away from the binding cloth (10) is fixedly connected to the piston plate (18); a piston cavity (13) for the piston plate (18) to slide transversely is provided in the support platform (11), and the end of the piston cavity (13) away from the rack (17) is communicated with the air bag (14).

7. The rehabilitation robot for hand soft body rehabilitation and upper limb rehabilitation according to claim 6, characterized in that: The training system includes upper limb rehabilitation module, hand rehabilitation module, radioulnar joint rehabilitation module and emergency braking module; The upper limb rehabilitation module is used to drive the patient's upper limbs to perform active training and passive training. When the patient performs passive training of the upper limbs, the upper limb rehabilitation module drives the patient's upper arm and forearm to rotate and swing based on the mechanical arm (1); when the patient performs active training of the upper limbs, the upper limb rehabilitation module is used to monitor the maximum rotation angle and maximum swing amplitude of the upper arm and forearm, and analyze the patient's upper limb rehabilitation degree based on the maximum rotation angle and maximum swing amplitude of the upper arm and forearm during the patient's active training; The hand rehabilitation module is used to drive the patient's hands to perform active and passive training. When the patient performs passive hand training, the hand rehabilitation module uses the pneumatic glove to drive the patient's fingers to bend and straighten. When the patient performs active hand training, the hand rehabilitation module is used to monitor the maximum degree of finger flexion and analyze the patient's hand rehabilitation level based on the maximum degree of finger flexion during active training. The radioulnar joint rehabilitation module is used to drive the patient's radioulnar joint to perform active training and passive training; when the patient performs passive training of the radioulnar joint, the radioulnar joint rehabilitation module drives the patient's radioulnar joint to rotate and swing based on the first grip ball (5) and the second grip ball (8); when the patient performs active training of the radioulnar joint, the radioulnar joint rehabilitation module is used to monitor the maximum rotation angle and rotation speed of the first grip ball (5), monitor the maximum swing amplitude and swing speed of the second grip ball (8), and analyze the patient's radioulnar joint rehabilitation degree based on the maximum rotation angle and rotation speed of the first grip ball (5) and the maximum swing amplitude and swing speed of the second grip ball (8); The emergency brake module includes a brake button, which is used to cut off the power supply of the entire device and stop the entire operation of the device.

8. The rehabilitation robot for hand soft body rehabilitation and upper limb rehabilitation according to claim 7, characterized in that: The upper limb rehabilitation module includes an upper limb monitoring unit and an upper limb analysis unit; An upper limb monitoring unit includes a plurality of second angle sensors and a second displacement sensor embedded in the upper arm and the lower arm. The upper limb monitoring unit monitors the rotation angle and swing amplitude of the patient's upper arm and the lower arm based on the second angle sensors and the second displacement sensors. The upper limb analysis unit is used to set the upper limb rehabilitation threshold and judge the patient's upper limb rehabilitation degree based on the ratio of the rotation angle and swing amplitude of the patient's upper arm and forearm to the upper limb rehabilitation threshold.

9. The rehabilitation robot for hand soft body rehabilitation and upper limb rehabilitation according to claim 8, characterized in that: The hand rehabilitation module includes a hand monitoring unit and a hand analysis unit; The hand monitoring unit includes several pressure sensors embedded in the pneumatic glove. The hand monitoring unit determines the degree of curvature of the patient's fingers based on the pressure values ​​monitored by the pressure sensors. The pressure values ​​are proportional to the degree of curvature of the fingers. The hand analysis unit is used to set the hand rehabilitation threshold and judge the patient's hand rehabilitation level based on the ratio of the maximum bending degree of the fingers to the hand rehabilitation threshold.

10. The rehabilitation robot for hand soft body rehabilitation and upper limb rehabilitation according to claim 9, characterized in that: The radioulnar joint rehabilitation module includes a radioulnar joint monitoring unit and a radioulnar joint analysis unit; The radioulnar joint monitoring unit comprises a second angle sensor and a rotation speed sensor embedded in the first grip ball (5) and a second displacement sensor and a speed sensor embedded in the second grip ball (8); the radioulnar joint monitoring unit monitors the rotation amplitude and rotation speed of the patient's radioulnar joint when rotating based on the second angle sensor and the rotation speed sensor, and monitors the swing amplitude and swing speed of the patient's radioulnar joint when swinging based on the second displacement sensor and the speed sensor; The radioulnar joint analysis unit is used to set the radioulnar joint rehabilitation threshold and judge the degree of recovery of the patient's radioulnar joint based on the ratio of the radioulnar joint rotation amplitude, rotation speed, swing amplitude and swing speed to the radioulnar joint rehabilitation threshold.

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